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package org.firstinspires.ftc.teamcode.autonomous;
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import static org.firstinspires.ftc.teamcode.constants.Poses.*;
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import static org.firstinspires.ftc.teamcode.constants.ServoPositions.*;
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import static org.firstinspires.ftc.teamcode.constants.ShooterVars.*;
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import androidx.annotation.NonNull;
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import com.acmerobotics.dashboard.FtcDashboard;
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import com.acmerobotics.dashboard.config.Config;
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import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
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import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
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import com.acmerobotics.roadrunner.Action;
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import com.acmerobotics.roadrunner.ParallelAction;
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import com.acmerobotics.roadrunner.Pose2d;
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import com.acmerobotics.roadrunner.SequentialAction;
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import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
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import com.acmerobotics.roadrunner.Vector2d;
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import com.acmerobotics.roadrunner.ftc.Actions;
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import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
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import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
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import org.firstinspires.ftc.teamcode.utils.AprilTagWebcam;
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import org.firstinspires.ftc.teamcode.utils.Flywheel;
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import org.firstinspires.ftc.teamcode.utils.Robot;
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import org.firstinspires.ftc.teamcode.utils.Servos;
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import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
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@Config
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@Autonomous(preselectTeleOp = "TeleopV3")
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public class Red_V3 extends LinearOpMode {
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Robot robot;
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MultipleTelemetry TELE;
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MecanumDrive drive;
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Flywheel flywheel;
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Servos servo;
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double velo = 0.0;
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public static double intake1Time = 2.9;
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public static double intake2Time = 2.9;
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public static double colorDetect = 3.0;
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boolean gpp = false;
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boolean pgp = false;
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boolean ppg = false;
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double powPID = 0.0;
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double bearing = 0.0;
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int b1 = 0; // 0 = no ball, 1 = green, 2 = purple
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int b2 = 0;// 0 = no ball, 1 = green, 2 = purple
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int b3 = 0;// 0 = no ball, 1 = green, 2 = purple
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public Action initShooter(int vel) {
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return new Action() {
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double ticker = 0.0;
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double stamp = 0.0;
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boolean steady = false;
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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if (ticker == 0) {
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stamp = getRuntime();
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}
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ticker++;
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powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
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velo = flywheel.getVelo();
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robot.shooter1.setPower(powPID);
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robot.shooter2.setPower(powPID);
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robot.transfer.setPower(1);
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TELE.addData("Velocity", velo);
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TELE.update();
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if (vel < velo && getRuntime() - stamp > 3.0 && !steady){
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steady = true;
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stamp = getRuntime();
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return true;
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} else if (steady && getRuntime() - stamp > 1.5){
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TELE.addData("Velocity", velo);
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TELE.addLine("finished init");
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TELE.update();
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return false;
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} else {
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return true;
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}
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}
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};
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}
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public Action steadyShooter(int vel, boolean last) {
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return new Action() {
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double stamp = 0.0;
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boolean steady = false;
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
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velo = flywheel.getVelo();
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steady = flywheel.getSteady();
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robot.shooter1.setPower(powPID);
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robot.shooter2.setPower(powPID);
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robot.transfer.setPower(1);
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TELE.addData("Velocity", velo);
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TELE.update();
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detectTag();
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if (last && !steady){
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stamp = getRuntime();
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drive.updatePoseEstimate();
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teleStart = drive.localizer.getPose();
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return false;
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} else if (steady) {
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stamp = getRuntime();
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return true;
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} else {
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return true;
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}
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}
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};
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}
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public Action Obelisk() {
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return new Action() {
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double stamp = getRuntime();
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int ticker = 0;
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@Override
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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if (ticker == 0) {
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stamp = getRuntime();
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}
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ticker++;
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if (aprilTag.getTagById(21) != null) {
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gpp = true;
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} else if (aprilTag.getTagById(22) != null) {
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pgp = true;
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} else if (aprilTag.getTagById(23) != null) {
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ppg = true;
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}
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aprilTag.update();
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TELE.addData("Velocity", velo);
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TELE.addData("21", gpp);
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TELE.addData("22", pgp);
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TELE.addData("23", ppg);
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TELE.update();
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if (gpp || pgp || ppg){
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double turretPID = servo.setTurrPos(turret_red);
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robot.turr1.setPower(turretPID);
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robot.turr2.setPower(-turretPID);
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return !servo.turretEqual(turret_red);
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} else {
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return true;
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}
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}
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};
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}
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public Action spindex (double spindexer, int vel){
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return new Action() {
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@Override
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
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velo = flywheel.getVelo();
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robot.shooter1.setPower(powPID);
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robot.shooter2.setPower(powPID);
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robot.spin1.setPower(spindexer);
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robot.spin2.setPower(1-spindexer);
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TELE.addData("Velocity", velo);
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TELE.addLine("spindex");
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TELE.update();
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drive.updatePoseEstimate();
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teleStart = drive.localizer.getPose();
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return !servo.spinEqual(spindexer);
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}
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};
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}
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public Action Shoot(int vel) {
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return new Action() {
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double transferStamp = 0.0;
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int ticker = 1;
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boolean transferIn = false;
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@Override
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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TELE.addData("Velocity", velo);
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TELE.addLine("shooting");
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TELE.update();
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powPID = flywheel.manageFlywheel(vel, robot.shooter1.getCurrentPosition());
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velo = flywheel.getVelo();
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robot.shooter1.setPower(powPID);
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robot.shooter2.setPower(powPID);
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drive.updatePoseEstimate();
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detectTag();
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teleStart = drive.localizer.getPose();
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if (ticker == 1) {
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transferStamp = getRuntime();
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ticker++;
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}
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if (getRuntime() - transferStamp > waitTransfer && !transferIn) {
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robot.transferServo.setPosition(transferServo_in);
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TELE.addData("Velocity", velo);
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TELE.addData("ticker", ticker);
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TELE.update();
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transferIn = true;
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return true;
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} else if (getRuntime() - transferStamp > waitTransfer+waitTransferOut && transferIn){
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robot.transferServo.setPosition(transferServo_out);
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TELE.addData("Velocity", velo);
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TELE.addLine("shot once");
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TELE.update();
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return false;
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} else {
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return true;
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}
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}
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};
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}
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public Action intake(double intakeTime) {
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return new Action() {
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double position = 0.0;
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double stamp = 0.0;
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int ticker = 0;
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@Override
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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if (ticker == 0) {
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stamp = getRuntime();
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}
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ticker++;
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double s1D = robot.color1.getDistance(DistanceUnit.MM);
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double s2D = robot.color2.getDistance(DistanceUnit.MM);
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double s3D = robot.color3.getDistance(DistanceUnit.MM);
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if ((getRuntime() % 0.3) > 0.15) {
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position = spindexer_intakePos1 + 0.02;
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} else {
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position = spindexer_intakePos1 - 0.02;
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}
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robot.spin1.setPower(position);
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robot.spin2.setPower(1 - position);
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TELE.addData("Velocity", velo);
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TELE.addLine("Intaking");
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TELE.update();
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drive.updatePoseEstimate();
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teleStart = drive.localizer.getPose();
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robot.intake.setPower(1);
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if ((s1D < 40.0 && s2D < 40.0 && s3D < 40.0) || getRuntime() - stamp > intakeTime) {
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return false;
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} else {
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return true;
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}
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}
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};
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}
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public Action intakeReject() {
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return new Action() {
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double stamp = 0.0;
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int ticker = 0;
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@Override
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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if (ticker == 0) {
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stamp = getRuntime();
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}
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ticker++;
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if (getRuntime() - stamp < 0.3){
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return true;
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}else {
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robot.intake.setPower(0);
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return false;
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}
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}
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};
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}
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public Action ColorDetect() {
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return new Action() {
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double stamp = 0.0;
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int ticker = 0;
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double position = 0.0;
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@Override
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public boolean run(@NonNull TelemetryPacket telemetryPacket) {
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if (ticker == 0) {
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stamp = getRuntime();
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}
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ticker++;
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if ((getRuntime() % 0.3) > 0.15) {
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position = spindexer_intakePos1 + 0.02;
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} else {
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position = spindexer_intakePos1 - 0.02;
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}
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robot.spin1.setPower(position);
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robot.spin2.setPower(1 - position);
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double s1D = robot.color1.getDistance(DistanceUnit.MM);
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double s2D = robot.color2.getDistance(DistanceUnit.MM);
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double s3D = robot.color3.getDistance(DistanceUnit.MM);
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drive.updatePoseEstimate();
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teleStart = drive.localizer.getPose();
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if (s1D < 40) {
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double green = robot.color1.getNormalizedColors().green;
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double red = robot.color1.getNormalizedColors().red;
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double blue = robot.color1.getNormalizedColors().blue;
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double gP = green / (green + red + blue);
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if (gP >= 0.4) {
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b1 = 2;
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} else {
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b1 = 1;
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}
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}
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if (s2D < 40) {
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double green = robot.color2.getNormalizedColors().green;
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double red = robot.color2.getNormalizedColors().red;
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double blue = robot.color2.getNormalizedColors().blue;
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double gP = green / (green + red + blue);
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if (gP >= 0.4) {
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b2 = 2;
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} else {
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b2 = 1;
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}
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}
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if (s3D < 30) {
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double green = robot.color3.getNormalizedColors().green;
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double red = robot.color3.getNormalizedColors().red;
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double blue = robot.color3.getNormalizedColors().blue;
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double gP = green / (green + red + blue);
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if (gP >= 0.4) {
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b3 = 2;
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} else {
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b3 = 1;
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}
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}
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TELE.addData("Velocity", velo);
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TELE.addLine("Detecting");
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TELE.addData("Distance 1", s1D);
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TELE.addData("Distance 2", s2D);
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TELE.addData("Distance 3", s3D);
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TELE.addData("B1", b1);
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TELE.addData("B2", b2);
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TELE.addData("B3", b3);
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TELE.update();
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return (b1 + b2 + b3 < 4) && !(getRuntime() - stamp > colorDetect);
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}
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};
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}
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@Override
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public void runOpMode() throws InterruptedException {
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robot = new Robot(hardwareMap);
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flywheel = new Flywheel();
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TELE = new MultipleTelemetry(
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telemetry, FtcDashboard.getInstance().getTelemetry()
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);
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drive = new MecanumDrive(hardwareMap, new Pose2d(
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0, 0, 0
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));
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aprilTag = new AprilTagWebcam();
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TrajectoryActionBuilder shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
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.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
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TrajectoryActionBuilder pickup1 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
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.strafeToLinearHeading(new Vector2d(rx2a, ry2a), rh2a)
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.strafeToLinearHeading(new Vector2d(rx2b, ry2b), rh2b);
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TrajectoryActionBuilder shoot1 = drive.actionBuilder(new Pose2d(rx2b, ry2b, rh2b))
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.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
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TrajectoryActionBuilder pickup2 = drive.actionBuilder(new Pose2d(rx1, ry1, rh1))
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.strafeToLinearHeading(new Vector2d(rx3a, ry3a), rh3a)
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.strafeToLinearHeading(new Vector2d(rx3b, ry3b), rh3b);
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TrajectoryActionBuilder shoot2 = drive.actionBuilder(new Pose2d(rx3b, ry3b, rh3b))
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.strafeToLinearHeading(new Vector2d(rx1, ry1), rh1);
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aprilTag.init(robot, TELE);
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while (opModeInInit()) {
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if (gamepad2.dpadUpWasPressed()) {
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hoodAuto-= 0.01;
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}
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if (gamepad2.dpadDownWasPressed()) {
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hoodAuto += 0.01;
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}
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robot.hood.setPosition(hoodAuto);
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robot.transferServo.setPosition(transferServo_out);
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robot.spin1.setPower(spindexer_intakePos1);
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robot.spin2.setPower(1 - spindexer_intakePos1);
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aprilTag.update();
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TELE.addData("Velocity", velo);
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TELE.addData("Turret Pos", servo.getTurrPos());
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TELE.update();
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}
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waitForStart();
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if (isStopRequested()) return;
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if (opModeIsActive()) {
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robot.hood.setPosition(hoodAuto);
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Actions.runBlocking(
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new ParallelAction(
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shoot0.build(),
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initShooter(AUTO_CLOSE_VEL),
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Obelisk()
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)
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);
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drive.updatePoseEstimate();
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teleStart = drive.localizer.getPose();
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powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition());
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velo = flywheel.getVelo();
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robot.shooter1.setPower(powPID);
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robot.shooter2.setPower(powPID);
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shootingSequence();
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robot.hood.setPosition(hoodAuto);
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drive.updatePoseEstimate();
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teleStart = drive.localizer.getPose();
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||||
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Actions.runBlocking(
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new ParallelAction(
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||||
pickup1.build(),
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||||
intake(intake1Time)
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||||
)
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||||
);
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drive.updatePoseEstimate();
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||||
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||||
teleStart = drive.localizer.getPose();
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||||
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Actions.runBlocking(
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||||
new ParallelAction(
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||||
shoot1.build(),
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||||
ColorDetect(),
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||||
steadyShooter(AUTO_CLOSE_VEL, true),
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||||
intakeReject()
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||||
)
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||||
);
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||||
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||||
drive.updatePoseEstimate();
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||||
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||||
teleStart = drive.localizer.getPose();
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||||
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||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition());
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||||
velo = flywheel.getVelo();
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||||
robot.shooter1.setPower(powPID);
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robot.shooter2.setPower(powPID);
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||||
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shootingSequence();
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
pickup2.build(),
|
||||
intake(intake2Time)
|
||||
)
|
||||
);
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
Actions.runBlocking(
|
||||
new ParallelAction(
|
||||
shoot2.build(),
|
||||
ColorDetect(),
|
||||
steadyShooter(AUTO_CLOSE_VEL, true),
|
||||
intakeReject()
|
||||
|
||||
)
|
||||
);
|
||||
|
||||
powPID = flywheel.manageFlywheel(AUTO_CLOSE_VEL, robot.shooter1.getCurrentPosition());
|
||||
velo = flywheel.getVelo();
|
||||
robot.shooter1.setPower(powPID);
|
||||
robot.shooter2.setPower(powPID);
|
||||
|
||||
shootingSequence();
|
||||
|
||||
drive.updatePoseEstimate();
|
||||
|
||||
teleStart = drive.localizer.getPose();
|
||||
|
||||
TELE.addData("Velocity", velo);
|
||||
TELE.addLine("finished");
|
||||
TELE.update();
|
||||
|
||||
sleep(2000);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public void detectTag(){
|
||||
AprilTagDetection d20 = aprilTag.getTagById(20);
|
||||
AprilTagDetection d24 = aprilTag.getTagById(24);
|
||||
|
||||
if (d20 != null) {
|
||||
bearing = d20.ftcPose.bearing;
|
||||
TELE.addData("Bear", bearing);
|
||||
}
|
||||
|
||||
if (d24 != null) {
|
||||
bearing = d24.ftcPose.bearing;
|
||||
TELE.addData("Bear", bearing);
|
||||
}
|
||||
double turretPos = servo.getTurrPos() - (bearing / 1300);
|
||||
double turretPID = servo.setTurrPos(turretPos);
|
||||
robot.turr1.setPower(turretPID);
|
||||
robot.turr2.setPower(-turretPID);
|
||||
}
|
||||
|
||||
public void shootingSequence() {
|
||||
TELE.addData("Velocity", velo);
|
||||
if (gpp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b2 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b3 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (pgp) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
} else if (b2 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else if (b3 == 2) {
|
||||
sequence4();
|
||||
TELE.addLine("sequence4");
|
||||
}
|
||||
} else {
|
||||
sequence3();
|
||||
TELE.addLine("sequence3");
|
||||
}
|
||||
} else if (ppg) {
|
||||
if (b1 + b2 + b3 == 4) {
|
||||
if (b1 == 2 && b2 - b3 == 0) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2 && b1 - b3 == 0) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2 && b1 - b2 == 0) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else if (b1 + b2 + b3 >= 5) {
|
||||
if (b1 == 2) {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
} else if (b2 == 2) {
|
||||
sequence5();
|
||||
TELE.addLine("sequence5");
|
||||
} else if (b3 == 2) {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
} else {
|
||||
sequence6();
|
||||
TELE.addLine("sequence6");
|
||||
}
|
||||
} else {
|
||||
sequence1();
|
||||
TELE.addLine("sequence1");
|
||||
}
|
||||
TELE.update();
|
||||
}
|
||||
|
||||
public void sequence1() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence2() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence3() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence4() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence5() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
|
||||
public void sequence6() {
|
||||
Actions.runBlocking(
|
||||
new SequentialAction(
|
||||
spindex(spindexer_outtakeBall3, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall2, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL),
|
||||
spindex(spindexer_outtakeBall1, AUTO_CLOSE_VEL),
|
||||
Shoot(AUTO_CLOSE_VEL)
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user